{"id":"https://openalex.org/W4414116783","doi":"https://doi.org/10.1109/lra.2025.3609096","title":"A Human Finger-Inspired Rigid-Soft Hybrid Gripper for Damage-Free and Fast Grasping","display_name":"A Human Finger-Inspired Rigid-Soft Hybrid Gripper for Damage-Free and Fast Grasping","publication_year":2025,"publication_date":"2025-09-11","ids":{"openalex":"https://openalex.org/W4414116783","doi":"https://doi.org/10.1109/lra.2025.3609096"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3609096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3609096","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049933821","display_name":"Pengyu Zhou","orcid":"https://orcid.org/0000-0001-9151-2623"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengyu Zhou","raw_affiliation_strings":["College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-9151-2623","affiliations":[{"raw_affiliation_string":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zeyang Gao","orcid":"https://orcid.org/0009-0001-1240-1747"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyang Gao","raw_affiliation_strings":["College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0001-1240-1747","affiliations":[{"raw_affiliation_string":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060013418","display_name":"Xiaoxu Zhang","orcid":"https://orcid.org/0000-0002-8543-9922"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoxu Zhang","raw_affiliation_strings":["College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-8543-9922","affiliations":[{"raw_affiliation_string":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101079045","display_name":"Xiaowen Yin","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaowen Yin","raw_affiliation_strings":["College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0001-4839-4454","affiliations":[{"raw_affiliation_string":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036528581","display_name":"Hongbin Fang","orcid":"https://orcid.org/0000-0001-6691-0531"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbin Fang","raw_affiliation_strings":["College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-6691-0531","affiliations":[{"raw_affiliation_string":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100743369","display_name":"Jian Xu","orcid":"https://orcid.org/0000-0002-3521-6843"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Xu","raw_affiliation_strings":["College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-3521-6843","affiliations":[{"raw_affiliation_string":"College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai, China","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I24943067"],"apc_list":null,"apc_paid":null,"fwci":1.031,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.76995433,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"10","issue":"11","first_page":"11243","last_page":"11250"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9745000004768372,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.95660001039505,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.9366000294685364},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.8079000115394592},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7339000105857849},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7257999777793884},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.45239999890327454},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4397999942302704},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.43369999527931213},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.4009000062942505},{"id":"https://openalex.org/keywords/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.39640000462532043}],"concepts":[{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.9366000294685364},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.8079000115394592},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7339000105857849},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7257999777793884},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5264000296592712},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.516700029373169},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.45239999890327454},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4397999942302704},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.43369999527931213},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.4009000062942505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.400299996137619},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.39640000462532043},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3847000002861023},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.36899998784065247},{"id":"https://openalex.org/C2988191880","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic hand","level":3,"score":0.3416000008583069},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.3312000036239624},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.33090001344680786},{"id":"https://openalex.org/C84111939","wikidata":"https://www.wikidata.org/wiki/Q5125465","display_name":"Clamping","level":2,"score":0.3264999985694885},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.3125},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.30869999527931213},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.30799999833106995},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.29760000109672546},{"id":"https://openalex.org/C165062768","wikidata":"https://www.wikidata.org/wiki/Q1145644","display_name":"Biomimetics","level":2,"score":0.29660001397132874},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2962999939918518},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.2946000099182129},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.289000004529953},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.28519999980926514},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.27889999747276306},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2671999931335449},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.2639000117778778}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3609096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3609096","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1886606953","display_name":null,"funder_award_id":"U2441202","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3337689321","display_name":null,"funder_award_id":"12532002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4540765119","display_name":null,"funder_award_id":"12372065","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1482343016","https://openalex.org/W2154963933","https://openalex.org/W2784648116","https://openalex.org/W2990410878","https://openalex.org/W2991460789","https://openalex.org/W3003198690","https://openalex.org/W3008620731","https://openalex.org/W3010489783","https://openalex.org/W3094904128","https://openalex.org/W3128795238","https://openalex.org/W3170640696","https://openalex.org/W3184770643","https://openalex.org/W3198695819","https://openalex.org/W4244873823","https://openalex.org/W4255466541","https://openalex.org/W4280528416","https://openalex.org/W4285149089","https://openalex.org/W4292387290","https://openalex.org/W4311825266","https://openalex.org/W4317105887","https://openalex.org/W4318818705","https://openalex.org/W4365140254","https://openalex.org/W4386634218","https://openalex.org/W4387449262","https://openalex.org/W4387757707","https://openalex.org/W4388014564","https://openalex.org/W4391096294","https://openalex.org/W4391406963","https://openalex.org/W4395661453","https://openalex.org/W4404219277","https://openalex.org/W4405429437"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Rigid-soft":[0],"hybrid":[1,25,43,87,230],"grippers":[2,26],"show":[3],"good":[4],"protection":[5],"and":[6,11,60,65,94,129,140,168,203,209,216],"high-payload":[7],"capacity":[8],"for":[9,24,225],"fragile":[10,202],"heavy":[12,61,207],"objects.":[13,153,212],"However,":[14],"because":[15],"of":[16,82,104,137,143,218],"inadequate":[17],"actuation":[18],"speed,":[19],"it":[20,54,199],"is":[21,99,157,190],"still":[22],"challenging":[23],"to":[27,55,150,159,181,196],"grasp":[28,58,201],"moving":[29,71,152,211],"objects":[30,62,72],"in":[31],"unstructured":[32],"environments.":[33],"To":[34],"address":[35],"this":[36,38],"limitation,":[37],"article":[39],"presents":[40],"a":[41,66,74,85,90,95,105,113,116,119,125,193,222,227],"rigid-soft":[42,86,177,229],"gripper":[44,149,189,220],"that":[45,175,198],"can":[46,179,200],"manually":[47],"switch":[48],"between":[49],"four":[50],"grasping":[51,214],"modes,":[52],"enabling":[53],"not":[56],"only":[57],"deformable":[59,204],"like":[63],"tofu":[64],"dumbbell,":[67],"but":[68],"also":[69],"capture":[70,151,210],"with":[73,89],"low":[75],"response":[76,135],"time.":[77],"Inspired":[78],"by":[79],"the":[80,138,141,144,148,161,176,188,219],"structure":[81,217],"human":[83],"fingers,":[84],"finger":[88,102,178],"soft":[91,106],"outer":[92],"body":[93],"rigid":[96],"inner":[97],"skeleton":[98],"designed.":[100],"The":[101,133,213],"consists":[103],"pneumatic":[107,120],"actuator":[108,123],"(SPA),":[109],"an":[110],"endoskeleton":[111,145,162],"linkage,":[112],"self-locking":[114],"mechanism,":[115,118],"fast-responding":[117],"artificial":[121],"muscle":[122],"(PAMA),":[124],"power":[126],"transition":[127],"bolt,":[128],"two":[130],"split":[131],"pins.":[132],"fast":[134],"speed":[136],"PAMA":[139],"amplification":[142,166],"linkage":[146],"enable":[147],"A":[154],"kinematic":[155],"model":[156],"established":[158],"verify":[160],"linkage's":[163],"angular":[164],"velocity":[165],"ability":[167],"describe":[169],"its":[170],"bending":[171],"angle.":[172],"Experiments":[173],"demonstrate":[174,197],"bend":[180],"145.":[182],"14\u00b0":[183],"within":[184],"71":[185],"ms.":[186],"Eventually,":[187],"mounted":[191],"on":[192],"robotic":[194],"arm":[195],"objects,":[205,208],"hold":[206],"strategies":[215],"provide":[221],"new":[223],"idea":[224],"designing":[226],"high-performance":[228],"gripper.":[231]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
